Mitsubishi Electric A173UHCPU Programming Manual page 171

7. POSITIONING CONTROL
Control with INC-2 (incremental method)
(1) Positioning control from the current stop position to the position which is the
resultant of the designated travel directions and travel values of the respective
axis.
(2) The travel direction of each axis is designated by the sign of the travel value, as
follows:
• Positive travel value .............forward direction (increased address)
• Negative travel value............reverse direction (decreased address)
Forward direction
Y-axis travel value
Reverse
direction
Reverse direction
Example
The travel direction is shown below for an X-axis travel value of 6000 and Y-
axis travel value of -2000.
Home position
Current stop address
(-1000, -1000)
Y-axis travel value
Fig.7.4 Positioning by Incremental Method
Positioning speed
Y
1
X
1
0
Current stop address
X-axis travel value
X-axis travel value
3000
Positioning movement
7 − 24
Forward: Travel direction for
positive travel value
Reverse: Travel direction for
negative travel value
: indicates set data
Forward
direction
5000
Stop position after
positioning